Abstract: In this article, a multivariable control design scheme is proposed for the reference trajectory tracking task in a kinematic model of a mobile robot. The control scheme leads to timevarying linear controllers accomplishing ...

Abstract: In this paper, a systematic procedure for controller design is proposed for a class of nonlinear underactuated systems (UAS), which are nonfeedback linearizable but exhibit a controllable (flat) tangent linearization around ...

Abstract: In this article we illustrate how the property of differential flatness can be advantageously joined to the sliding mode controller design methodology for the active stabilization of nonlinear ...

Abstract: This paper presents a linear robust output reference trajectory tracking controller, addressed here as a flat filtering controller (FFC), for nonlinear differentially flat systems. Here, we illustrate the controller's ...